Package com.marslib.swerve

Class GyroIOSim

java.lang.Object

com.marslib.swerve.GyroIOSim

All Implemented Interfaces:

GyroIO

public class GyroIOSim
extends Object
implements GyroIO

Simulated gyro IO layer that derives yaw from the maple-sim physics engine.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.swerve.GyroIO

GyroIO.GyroIOInputs

Field Summary

Fields

Modifier and Type	Field	Description
double	canStarvationProbability
boolean	enableCanStarvation

Constructor Summary

Constructors

Constructor	Description
GyroIOSim()

Method Summary

Modifier and Type	Method	Description
void	setGyroSimulation(org.ironmaple.simulation.drivesims.GyroSimulation gyroSim)
void	setSwerveDriveSimulation(org.ironmaple.simulation.drivesims.SwerveDriveSimulation simDrive)
void	updateInputs(GyroIO.GyroIOInputs inputs)	Updates the set of loggable inputs.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

enableCanStarvation

public boolean enableCanStarvation

canStarvationProbability

public double canStarvationProbability

Constructor Details

GyroIOSim

public GyroIOSim()

Method Details

setGyroSimulation

public void setGyroSimulation(org.ironmaple.simulation.drivesims.GyroSimulation gyroSim)

setSwerveDriveSimulation

public void setSwerveDriveSimulation(org.ironmaple.simulation.drivesims.SwerveDriveSimulation simDrive)

updateInputs

public void updateInputs(GyroIO.GyroIOInputs inputs)

Description copied from interface: GyroIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface GyroIO